Display_D_HP/TeamAAS-VM/ViewModels/Product/VisionStaticAccuracyAnalyzerViewModel.cs

using Cognex.VisionPro;
using Cognex.VisionPro.ToolBlock;
using MaterialDesignThemes.Wpf;
using Prism.Commands;
using Prism.Events;
using Prism.Ioc;
using Prism.Mvvm;
using Prism.Regions;
using Prism.Services.Dialogs;
using System;
using System.Collections.Generic;
using System.Data;
using System.Linq;
using System.Threading;
using System.Threading.Tasks;
using Team.FFFeederService;
using Team.FFFeederService.Interfaces;
using TeamAAS_VP.Core;
using TeamAAS_VP.Data;
using TeamAAS_VP.Enums;
using TeamAAS_VP.Events;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;
using TeamAAS_VP.Models.Calibration;
using TeamAAS_VP.Resources.Languages;
using TeamAAS_VP.Services;
using TeamAAS_VP.Views.Setting;

namespace TeamAAS_VP.ViewModels.Product
{
    public class VisionStaticAccuracyAnalyzerViewModel : BindableBase, IDialogAware
    {
        IRegionManager _regionManager;
        IEventAggregator _eventAggregator;
        IContainerProvider _container;
        IDialogService _dialogService;
        IFeederService _feederService;
        IRobotService _robotService;
        ICameraService _cameraService;
        ISystemDatabaseService _systemDatabaseService;

        //测试过程中控制取消的CTS
        CancellationTokenSource _cts;

        #region 属性

        private ICogImage _Image;

        public ICogImage Image
        {
            get { return _Image; }
            set { SetProperty(ref _Image, value); }
        }

        private Cognex.VisionPro.CogGraphicCollection _Graphic;

        public Cognex.VisionPro.CogGraphicCollection Graphic
        {
            get { return _Graphic; }
            set { SetProperty(ref _Graphic, value); }
        }

        private ProcedureModel _SelectProcedure;

        /// <summary>
        /// 选中的流程
        /// </summary>
        public ProcedureModel SelectProcedure
        {
            get { return _SelectProcedure; }
            set
            {
                SetProperty(ref _SelectProcedure, value);
            }
        }

        private ICamera _Camera;

        public ICamera Camera
        {
            get { return _Camera; }
            set { SetProperty(ref _Camera, value); }
        }

        private string _Message = "等待开始...";
        public string Message
        {
            get { return _Message; }
            set { SetProperty(ref _Message, value); }
        }

        private bool _IsRunning;

        public bool IsRunning
        {
            get { return _IsRunning; }
            set { SetProperty(ref _IsRunning, value); }
        }

        private CogToolBlock _VisionTool;
        public CogToolBlock VisionTool
        {
            get { return _VisionTool; }
            set { SetProperty(ref _VisionTool, value); }
        }

        private int _RepeatCount = 10;
        /// <summary>
        /// 重复次数
        /// </summary>
        public int RepeatCount
        {
            get { return _RepeatCount; }
            set { SetProperty(ref _RepeatCount, value); }
        }

        private int _CurrentProgress;
        /// <summary>
        /// 当前进度
        /// </summary>
        public int CurrentProgress
        {
            get { return _CurrentProgress; }
            set { SetProperty(ref _CurrentProgress, value); }
        }

        private int _SuccessCount;
        /// <summary>
        /// 成功次数
        /// </summary>
        public int SuccessCount
        {
            get { return _SuccessCount; }
            set { SetProperty(ref _SuccessCount, value); }
        }

        private int _FailCount;
        /// <summary>
        /// 失败次数
        /// </summary>
        public int FailCount
        {
            get { return _FailCount; }
            set { SetProperty(ref _FailCount, value); }
        }

        private double _SuccessRate;
        /// <summary>
        /// 成功率
        /// </summary>
        public double SuccessRate
        {
            get { return _SuccessRate; }
            set { SetProperty(ref _SuccessRate, value); }
        }

        //测试结果列表DataTable
        private DataTable _TestResult;
        public DataTable TestResult
        {
            get { return _TestResult; }
            set { SetProperty(ref _TestResult, value); }
        }

        private SnackbarMessageQueue _MessageQueue;
        public SnackbarMessageQueue MessageQueue
        {
            get { return _MessageQueue; }
            set { SetProperty(ref _MessageQueue, value); }
        }
        #endregion

        #region 命令
        private DelegateCommand _ConfirmCommand;
        public DelegateCommand ConfirmCommand =>
            _ConfirmCommand ?? (_ConfirmCommand = new DelegateCommand(ExecuteConfirmCommand).ObservesCanExecute(() => IsRunning));

        private DelegateCommand _CancelCommand;
        public DelegateCommand CancelCommand =>
            _CancelCommand ?? (_CancelCommand = new DelegateCommand(ExecuteCancelCommand).ObservesCanExecute(() => IsRunning));

        private DelegateCommand _StartTestCommand;
        public DelegateCommand StartTestCommand =>
            _StartTestCommand ?? (_StartTestCommand = new DelegateCommand(ExecuteStartTestCommand, CanExecuteStartTestCommand).ObservesProperty(() => IsRunning));

        private DelegateCommand _StopTestCommand;
        public DelegateCommand StopTestCommand =>
            _StopTestCommand ?? (_StopTestCommand = new DelegateCommand(() => { _cts?.Cancel(); }, () => IsRunning).ObservesProperty(() => IsRunning));

        //暂停测试命令
        private DelegateCommand _PauseTestCommand;
        public DelegateCommand PauseTestCommand =>
            _PauseTestCommand ?? (_PauseTestCommand = new DelegateCommand(() => { _cts?.Cancel(); }, () => IsRunning).ObservesProperty(() => IsRunning));

        private DelegateCommand _ExportCSVCommand;
        public DelegateCommand ExportCSVCommand =>
            _ExportCSVCommand ?? (_ExportCSVCommand = new DelegateCommand(ExecuteExportCSVCommand));

        private DelegateCommand _ExportReportCommand;
        public DelegateCommand ExportReportCommand =>
            _ExportReportCommand ?? (_ExportReportCommand = new DelegateCommand(ExecuteExportReportCommand));

        private DelegateCommand _ClearDataCommand;
        public DelegateCommand ClearDataCommand =>
            _ClearDataCommand ?? (_ClearDataCommand = new DelegateCommand(ExecuteClearDataCommand));


        #endregion

        #region 事件

        #endregion

        public VisionStaticAccuracyAnalyzerViewModel(IRegionManager regionManager, IEventAggregator ea, IContainerProvider container, IDialogService dialogService,
            IFeederService feederService, IRobotService robotService, ICameraService cameraService, ISystemDatabaseService systemDatabaseService)
        {
            _regionManager = regionManager;
            _eventAggregator = ea;
            _container = container;
            _dialogService = dialogService;
            _feederService = feederService;
            _robotService = robotService;
            _cameraService = cameraService;
            _systemDatabaseService = systemDatabaseService;
            MessageQueue= new SnackbarMessageQueue(TimeSpan.FromSeconds(1));
        }

        #region 方法
        /// <summary>
        /// 确定
        /// </summary>
        void ExecuteConfirmCommand()
        {


            IDialogParameters parameters = new DialogParameters();
            //parameters.Add("Tool", Tool);
            //parameters.Add("RobotCameraRotationMatrix", RobotCameraRotationMatrix);
            //parameters.Add("Angle", Angle);
            RequestClose?.Invoke(new DialogResult(ButtonResult.OK, parameters));
        }

        /// <summary>
        /// 取消
        /// </summary>
        void ExecuteCancelCommand()
        {
            IDialogParameters parameters = new DialogParameters();
            //parameters.Add("Tool", Tool);
            RequestClose?.Invoke(new DialogResult(ButtonResult.Cancel, parameters));
        }

        /// <summary>
        /// 开始测试
        /// </summary>
        async void ExecuteStartTestCommand()
        {
            IsRunning = true;
            _cts = new CancellationTokenSource();
            CurrentProgress = 0;
            SuccessCount = 0;
            SuccessRate = 0;
            FailCount = 0;
            Message = "测试进行中...";

            try
            {
                while (CurrentProgress < RepeatCount)
                {
                    if (_cts.Token.IsCancellationRequested)
                    {
                        Message = "测试已取消！";
                        break;
                    }
                    await Task.Delay(1000);
                    CurrentProgress++;
                    SuccessCount++;
                    SuccessRate = (double)SuccessCount / CurrentProgress * 100;
                    SendTaskMessage($"测试进行中... {CurrentProgress}/{RepeatCount}");
                }
                if (CurrentProgress >= RepeatCount)
                {
                    Message = "测试完成！";
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("视觉静态重复测试时出错！", ex);
            }
            finally
            {
                IsRunning = false;
            }
        }

        bool CanExecuteStartTestCommand()
        {
            return !IsRunning;
        }

        /// <summary>
        /// 清除数据
        /// </summary>
        void ExecuteClearDataCommand()
        {

        }

        /// <summary>
        /// 导出测试报告
        /// </summary>
        void ExecuteExportReportCommand()
        {

        }

        /// <summary>
        /// 导出测试数据为CSV文件
        /// </summary>
        void ExecuteExportCSVCommand()
        {

        }

        /// <summary>
        /// 执行相机拍照并运行 ToolBlock,返回是否成功并通过 out 参数返回 Outputs、图像和图形集合。
        /// </summary>
        /// <param name="outputCollection"></param>
        /// <param name="outImage"></param>
        /// <param name="outGraphicCollection"></param>
        /// <returns></returns>
        public bool ExecutePhotoEx(out CogToolBlockTerminalCollection outputCollection, out ICogImage outImage, out CogGraphicCollection outGraphicCollection)
        {
            outImage = null;
            outGraphicCollection = null;
            try
            {
                // 1. 采集图像
                bool succed = Camera.SetExposureTime(SelectProcedure.ExposureTime);
                if (!succed)
                {
                    SendTaskMessage(Lang.相机曝光设置失败);
                }
                succed = Camera.SetGain(SelectProcedure.Gain);
                if (!succed)
                {
                    SendTaskMessage(Lang.相机增益设置失败);
                }
                DateTime nowtime = DateTime.Now;
                LogHelper.WriteLogInfo(Lang.开始采集图像);
                var image = Camera.Grab();
                if (image == null)
                {

                    SendTaskMessage(Lang.图像采集失败);
                    outputCollection = null;
                    return false;
                }
                outImage = image;
                VisionTool.Inputs["InputImage"].Value = image;
                LogHelper.WriteLogInfo(string.Format(Lang.采集图像完成用时0ms, (DateTime.Now - nowtime).Milliseconds));

                // 2. 为ToolBlock传入其他输入终端
                //if (InputTerminal != null)
                //{
                //    LogHelper.WriteLogInfo(Lang.为ToolBlock传入输入终端);
                //    foreach (var item in InputTerminal)
                //    {
                //        if (VisionTool.Inputs.Contains(item.Key))
                //        {
                //            LogHelper.WriteLogInfo($"传入[{item.Key}]={item.Value}");
                //            VisionTool.Inputs[item.Key].Value = item.Value;
                //        }
                //        else
                //        {
                //            LogHelper.WriteLogInfo($"创建并传入[{item.Key}]={item.Value}");
                //            VisionTool.Inputs.Add(new CogToolBlockTerminal(item.Key, item.Value));
                //        }
                //    }
                //}

                // 3. 运行视觉工具
                LogHelper.WriteLogInfo(Lang.开始运行视觉工具);
                VisionTool.Run();      //运行ToolBlock

                if (VisionTool.RunStatus.Result == CogToolResultConstants.Accept)
                {
                    SendTaskMessage(Lang.视觉流程执行耗时.Replace("{0}", SelectProcedure.Name).Replace("{1}", $"{VisionTool.RunStatus.ProcessingTime:F1}"));
                    outputCollection = VisionTool.Outputs;     //获取输出终端集合
                    ICogRecord record = null;
                    foreach (CogToolBlockTerminal item in outputCollection)
                    {
                        if (item.Value is ICogRecord)
                            record = item.Value as ICogRecord;
                    }
                    outGraphicCollection = outputCollection["Graphic"].Value as CogGraphicCollection;
                    return true;
                }
                else
                {
                    SendTaskMessage(Lang.视觉流程执行出错耗时.Replace("{0}", SelectProcedure.Name).Replace("{1}", $"{VisionTool.RunStatus.ProcessingTime:F1}"));
                    SendTaskMessage(VisionTool.RunStatus.Message);
                    outputCollection = null;
                    outGraphicCollection = outputCollection["Graphic"].Value as CogGraphicCollection;
                    return false;
                }
            }
            catch (Exception ex)
            {
                SendTaskMessage(ex.Message);
                LogHelper.WriteLogError(Lang.执行相机取图并执行视觉工具组时出错, ex);
                outputCollection = null;
                return false;
            }
        }

        public void SendTaskMessage(string msg)
        {
            App.Current.Dispatcher.Invoke(() =>
            {
                MessageQueue.Clear();
                MessageQueue.Enqueue(msg);
            });
        }

        /// <summary>
        /// 相机拍照
        /// </summary>
        /// <returns></returns>
        //private async Task<(bool IsSuccess, double X, double Y, double U, int ImageWidth, int ImageHeight)> CaptureAndProcess()
        //{
        //    if (Feeder != null)
        //    {
        //        Feeder.OpenLight();
        //        Feeder.SetLightTimeOut((ushort)SelectCalibration.Brightness);
        //    }
        //    await Task.Delay(200);
        //    //采集图像
        //    if (Camera != null)
        //    {
        //        SelectCalibration.ToolBlock.Inputs["InputImage"].Value = Camera.Grab();

        //    }
        //    App.Current.Dispatcher.Invoke(() =>
        //    {
        //        Graphic = null;
        //        Image = (ICogImage)SelectCalibration.ToolBlock.Inputs["InputImage"].Value;
        //    });

        //    SelectCalibration.ToolBlock.Run();
        //    CogToolBlockTerminalCollection outputCollection = SelectCalibration.ToolBlock.Outputs;
        //    App.Current.Dispatcher.Invoke(() =>
        //    {
        //        Graphic = outputCollection["Graphic"].Value as CogGraphicCollection;
        //    });

        //    bool Found = (bool)(outputCollection["Found"].Value);
        //    if (Found)
        //    {
        //        var strpoints = outputCollection["Point"].Value.ToString();
        //        string[] items = strpoints.Split(',');
        //        double x = double.Parse(items[0]);
        //        double y = double.Parse(items[1]);
        //        return (true, x, y, 0, Image.Width, Image.Height);
        //    }
        //    else
        //    {
        //        return (false, 0, 0, 0, Image.Width, Image.Height);
        //    }
        //}
        #endregion

        #region 继承
        public string Title { get; set; } = "视觉静态精度分析仪";

        public event Action<IDialogResult> RequestClose;

        public bool CanCloseDialog()
        {
            return true;
        }

        public void OnDialogClosed()
        {

        }

        public void OnDialogOpened(IDialogParameters parameters)
        {
            SelectProcedure = parameters.GetValue<ProcedureModel>("SelectedProcedure");
            Camera = _cameraService.GetCamera(SelectProcedure.CameraId);
            VisionTool = parameters.GetValue<CogToolBlock>("ToolBlock");
        }
        #endregion
    }
}